A hierarchical formation stabilization method is proposed for vehicles having non-linear dynamics. The method makes it possible to design the high- and the low-level control algorithms independently, while the stability of the entire system is guaranteed. Through an application example it is showed that the nonlinear single-track model of road vehicles satisfies the requirements of the control method so it suits well to this control framework. It is important to keep in mind that the availability of a precise vehicle model was assumed during the controller design. For the practical applicability the presented methods, especially the low-level controller, are expected to be robust against disturbances and modeling uncertainties. However the increase of robustness of the dynamic inversion based controllers is generally a complex problem, which requires further researches.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Formation stabilization based on dynamic inversion and passivity


    Additional title:

    Auf dynamischer Inversion und Passivität basierende Formationstabilisierung


    Contributors:
    Peni, T. (author) / Bokor, J. (author)


    Publication date :

    2006


    Size :

    12 Seiten, 4 Bilder, 10 Quellen



    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English





    Passivity-Based Control

    Brogliato, Bernard / Lozano, Rogelio / Maschke, Bernhard et al. | Springer Verlag | 2019


    Dynamic Visual Servoing of Robot Manipulators Based on Passivity

    Rodríguez, A Luis / Yu Tang, | IEEE | 2010



    Output feedback passivity based controllers for dynamic positioning of ships

    Muhammad, Shah / Dòria Cerezo, Arnau | BASE | 2010

    Free access